version: 66.04
glider: 512
mission: 2
dive: 17
start: 8 13 111 20 44 31
data:
$ID,512
$MISSION,2
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52072
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32888.02
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2640
$C_ROLL_CLIMB,2560
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2860
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043565552
$SEABIRD_T_H,0.00063178345
$SEABIRD_T_I,2.466659e-05
$SEABIRD_T_J,2.7195788e-06
$SEABIRD_C_G,-9.9023848
$SEABIRD_C_H,1.1413758
$SEABIRD_C_I,-0.0018185935
$SEABIRD_C_J,0.00022361503
$GPS1,202907,2145.052,-15813.219,38,1.1,39,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.9
$GPS2,204338,2145.070,-15813.396,13,1.3,13,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SECOND
$TGT_LATLONG,2151.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.180
$KALMAN_X,542.7,-54.2,505.7,-8008.8,-2938.7
$KALMAN_Y,-12695.0,1867.1,621.1,17391.0,-4021.2
$MHEAD_RNG_PITCHd_Wd,36.1,11728,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,19,-0.76,-146.0,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,45,2667,3320
$GC,111,-0.76,-146.0,3.7,-6.6,11,128,8.05,1.80,-2.28,0.000,4,0.202,0.048,2234,3899,3455
$GC,200,-0.76,-146.0,43.9,-27.2,22,208,0.00,1.85,0.00,0.000,6,0.000,0.024,2234,2648,3456
$GC,465,-0.76,-146.0,112.3,-23.0,47,469,0.00,2.05,0.00,0.000,4,0.000,0.028,2234,1225,3457
$GC,529,-0.76,-146.0,126.1,-18.0,52,537,0.00,2.12,0.00,0.000,6,0.000,0.038,2223,2611,3457
$GC,793,-0.76,-146.0,175.2,-18.5,77,797,0.00,2.00,0.00,0.000,4,0.000,0.026,2223,1223,3458
$GC,842,-0.76,-146.0,184.2,-18.1,81,846,0.00,2.15,0.00,0.000,6,0.000,0.040,2222,2641,3458
$GC,1099,-0.76,-146.0,230.8,-18.2,93,1102,0.00,2.05,0.00,0.000,4,0.000,0.026,2222,1214,3458
$GC,1151,-0.76,-146.0,239.5,-14.9,94,1156,0.12,2.15,0.00,0.000,6,0.136,0.038,2247,2648,3458
$GC,1432,-0.76,-146.0,277.7,-13.3,101,1436,0.00,1.88,0.00,0.000,4,0.000,0.048,2239,3894,3457
$GC,1473,-0.76,-146.0,283.3,-13.3,101,1480,0.00,1.83,0.00,0.000,6,0.000,0.024,2239,2621,3456
$GC,1727,-0.76,-146.0,316.8,-13.5,108,1731,0.00,1.98,0.00,0.000,4,0.000,0.028,2239,1238,3455
$GC,1866,-0.76,-146.0,334.5,-11.5,111,1870,0.00,2.10,0.00,0.000,6,0.000,0.041,2235,2641,3455
$GC,2158,-0.76,-146.0,372.5,-13.0,118,2161,0.00,2.03,0.00,0.000,4,0.000,0.028,2235,1235,3453
$GC,2238,-0.76,-146.0,382.6,-10.8,119,2242,0.00,2.12,0.00,0.000,6,0.000,0.041,2224,2648,3453
$GC,2497,-0.76,-146.0,413.5,-12.0,126,2501,0.00,2.03,0.00,0.000,4,0.000,0.028,2224,1242,3451
$GC,2544,-0.76,-146.0,418.9,-11.1,127,2549,0.00,2.10,0.00,0.000,6,0.000,0.041,2223,2639,3451
$GC,2837,-0.76,-146.0,449.6,-10.3,134,2840,0.00,2.03,0.00,0.000,4,0.000,0.029,2223,1239,3449
$GC,2866,-0.76,-146.0,452.6,-10.3,134,2871,0.12,2.10,0.00,0.000,6,0.130,0.041,2248,2642,3448
$GC,3131,-0.76,-146.0,475.2,-8.9,141,3133,0.00,0.00,-0.08,0.000,6,0.000,0.000,2248,2642,3471
$GC,3373,-0.76,-146.0,500.1,-10.3,147,3377,0.00,2.00,0.00,0.000,4,0.000,0.030,2248,1245,3470
$GC,3408,-0.76,-146.0,503.8,-9.9,147,3412,0.00,2.12,0.00,0.000,6,0.000,0.044,2248,2646,3470
$GC,3667,-0.76,-146.0,528.5,-9.6,154,3670,0.00,2.03,0.00,0.000,4,0.000,0.031,2248,1241,3467
$GC,3702,-0.76,-146.0,531.7,-8.9,154,3706,0.00,2.12,0.00,0.000,6,0.000,0.044,2240,2642,3467
$GC,3962,-0.76,-146.0,554.0,-8.5,161,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2643,3465
$GC,4204,-0.76,-146.0,573.9,-8.0,167,4208,0.00,2.05,0.00,0.000,4,0.000,0.032,2239,1242,3463
$GC,4262,-0.76,-146.0,578.9,-7.6,168,4266,0.00,2.12,0.00,0.000,6,0.000,0.045,2236,2637,3462
$STATE,4497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4497,begin apogee
$GC,4509,-0.27,0.0,601.5,9.6,174,4633,0.50,0.00,121.15,1.075,6,0.114,0.000,2402,2557,2860
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4639,0.76,146.0,606.7,0.0,177,4781,0.90,2.20,130.00,1.022,4,0.043,0.031,2765,1166,2263
$GC,4928,0.76,146.0,568.3,22.2,183,4933,0.00,2.17,0.00,0.000,6,0.000,0.040,2765,2565,2255
$GC,5180,0.76,146.0,508.7,23.7,189,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2566,2251
$GC,5424,0.76,146.0,451.6,23.5,195,5428,0.00,2.08,0.00,0.000,4,0.000,0.050,2765,3902,2249
$GC,5459,0.76,146.0,443.1,24.9,195,5463,0.15,1.98,0.00,0.000,6,0.212,0.031,2742,2569,2249
$GC,5717,0.76,146.0,385.4,21.4,202,5721,0.00,2.10,0.00,0.000,4,0.000,0.034,2752,1148,2247
$GC,5752,0.76,146.0,378.2,19.3,202,5756,0.00,2.15,0.00,0.000,6,0.000,0.042,2752,2560,2247
$GC,6010,0.76,146.0,325.9,20.7,209,6013,0.00,2.08,0.00,0.000,4,0.000,0.033,2762,1155,2246
$GC,6107,0.76,146.0,307.4,17.3,211,6111,0.00,2.15,0.00,0.000,6,0.000,0.042,2762,2570,2245
$GC,6395,0.76,146.0,253.7,19.0,218,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2571,2245
$GC,6638,0.76,146.0,211.4,17.5,224,6642,0.00,2.10,0.00,0.000,4,0.000,0.034,2771,1143,2244
$GC,6673,0.76,146.0,205.3,15.5,224,6678,0.12,2.15,0.00,0.000,6,0.201,0.040,2739,2570,2244
$GC,6937,0.76,146.0,166.5,15.8,245,6940,0.00,2.08,0.00,0.000,4,0.000,0.033,2748,1151,2244
$GC,7044,0.76,146.0,151.0,14.2,254,7051,0.00,2.15,0.00,0.000,6,0.000,0.041,2748,2559,2243
$GC,7310,0.76,146.0,116.0,13.5,279,7314,0.00,2.05,0.00,0.000,4,0.000,0.030,2760,1145,2244
$GC,7572,0.81,184.3,82.8,8.2,302,7610,0.00,2.12,28.52,0.677,6,0.000,0.037,2759,2574,2108
$GC,7867,0.81,184.3,50.0,11.5,329,7870,0.00,2.00,0.00,0.000,4,0.000,0.046,2755,3893,2104
$GC,8124,0.81,184.3,16.4,14.2,360,8132,0.00,1.98,0.00,0.000,6,0.000,0.025,2763,2547,2103
$STATE,8217,end climb,SURFACE_DEPTH_REACHED
$STATE,8217,begin surface coast
$FINISH,0.1,1.023248
$STATE,8240,end surface coast,CONTROL_FINISHED_OK
$STATE,8240,begin surface
$SM_CCo,8265,105.12,0.591,0,0,1146,420.19
$SM_GC,0.89,0.00,0.00,105.12,0.000,0.000,0.591,44,2663,1146,-7.64,0.65,420.19
$IRIDIUM_FIX,2136.49,-15812.78,061100,202015
$TT8_MAMPS,0.023777
$HUMID,2103
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,23.80
$XPDR_PINGS,5
$24V_AH,24.4,2.343
$10V_AH,10.8,2.143
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.900,82.525,279.675,105.125,0.000,49.574,75.417,519.309,1.250,0.000,0.000,13.927,799.004,5519.290,442.996,1446.421,1038.071,33.358,1048.900,0.000,1447.051,0.000,0.544,0.000
$DEVICE_MAMPS,211.692,86.671,1074.567,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,257.021,611.242,629.188,129.354,591.042,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31927,381
$CAP_FILE_SIZE,78013,0
$CFSIZE,260165632,216788992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,130811,230502,2145.915,-15812.738,11,1.3,12,9.9